Speech activated door operator system

ABSTRACT

A barrier operator system, such as a garage door operator system, includes one or more remote control units, such as an inside remote control unit, an external wall mounted remote control unit and portable vehicle disposed remote control units which include speech recognition modules for recognizing spoken command signals to open or close a garage door or energize or de-energize lighting associated with the garage. The speech recognition modules are operably connected to interface or microcontroller circuits for operating a radio frequency transmitter for sending signals to operate lighting, and/or the barrier operator to move a barrier between open and closed positions, and possibly perform other functions.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation of application Ser. No. 09/909,400,filed Jul. 19, 2001, now U.S. Pat. No. 7,194,412.

BACKGROUND OF THE INVENTION

The development of voice or speech recognition systems for use invarious applications involving human endeavor has provided convenienceand security. Heretofore, however, control systems for operatingbarriers, such as residential and commercial upward acting garage doorsand similar barriers, have not enjoyed the improvements provided byhuman voice or speech recognition devices.

Barrier operator systems, such as garage door operators, could wellbenefit from systems which may be operated by human voices speaking to acontrol device to cause opening and closing of garage doors, inparticular. For example, residential and commercial garage doors mayprovide for added security and convenience of operation if operated byspeaker dependent or speaker independent speech activated controllers,including controllers which may also be manually actuated. Such types ofcontrollers are useful for placement within an enclosure or room whichis closed by the door, disposed exterior of the room closed by the dooror as portable remote control or command units. It is to these ends thatthe present invention has been developed.

BRIEF SUMMARY OF THE INVENTION

The present invention provides an improved barrier operator system, suchas a residential or commercial garage door operator system.

The present invention also provides an improved barrier operator systemcharacterized as a garage door operator system which may be controlledto open and close a garage door by human voice commands.

In accordance with one aspect of the present invention, a door operatorsystem is provided which includes one or more remote control units whichmay be human speech activated to transmit a hard wire carried or radiofrequency carried signal to an operator and associated base controllerfor moving a door between open and closed positions.

In accordance with another aspect of the present invention, a dooroperator system is provided which includes a stationary speech activatedcontroller for effecting operation of a garage door operator through itsbase controller.

Still further, the present invention provides a door operator systemwhich includes a speech activated controller mounted on the exterior ofa structure, or at least exterior of an enclosure, which is closed by adoor controlled by the operator system.

The door operator system of the present invention provides a completelyhands free operation option available to a person authorized to open orclose the door. The operator system may be programmed to recognize onlykeywords and be speaker dependent as well as speaker independent withrespect to the keywords. Alternatively, the operator system may bespeaker dependent and operable when receiving any voice command from apreauthorized speaker to control operation of a garage door. A speechactivated controller may be associated with conventional controllers,both stationary and portable, which are essentially modified to includea microphone, a speaker, and speech recognition and activationcircuitry.

Those skilled in the art will further appreciate the superior featuresof the invention as well as other important aspects thereof upon readingthe detailed description which follows in conjunction with the drawings.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 is a perspective view of a residential garage door and operatorsystem therefor and including speech activated controllers in accordancewith the present invention;

FIG. 2 is a front elevation of a fixed exterior controller in accordancewith the speech activated control system of the present invention;

FIG. 3 is a generalized schematic diagram of the speech activatedcontroller shown in FIG. 2;

FIG. 4 is a generalized schematic diagram of a fixed interior speechactivated controller for the operator system;

FIG. 5 is a generalized schematic diagram of one of the remote, portablecontrollers for the speech activated control system of the presentinvention; and

FIG. 6A through 6D comprise flow diagrams for certain steps carried outby one or more of the controllers for the system shown in FIG. 1.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In the description which follows like elements are marked throughout thespecification and drawings with the same reference numerals,respectively. The drawing figures are in somewhat generalized orschematic form in the interest of clarity and conciseness.

Referring to FIG. 1, there is illustrated a speech activatable dooroperator system 10 in accordance with the invention for operating anupward acting barrier or door 20 which is moveable between a closedposition shown and an open position on conventional spaced apart guidetracks 22 and 24. Barrier or door 20 is operable to form a closure for aroom or garage 14 defined in part by ceiling 15, walls 16 and 18, andfloor 19. Door 20 is adapted to be moved between open and closedpositions by an operator 17 including a mechanism supported on anelongated member 26 and connected to a link 28 which is also connectedto the door. The aforementioned mechanism is operably connected to adrive motor unit 30. The operator 17 may be of the type described inU.S. Pat. No. 6,118,243 issued Sep. 12, 2000 to Brett A. Reed et al andassigned to the assignee of the present invention. The operator 17 iscontrolled by a base controller 36 which may be of a type described inthe aforementioned U.S. Pat. No. 6,118,243, which is incorporated hereinby reference.

Base controller 36 is adapted to respond to signals from mechanism limitswitches 32 and 34 and to a signal from an obstruction detector 42, 44for controlling operation of the door 20. Base controller 36 is alsooperable to energize and deenergize lighting 33 and is operablyassociated with a first speech activated controller 38 mounted on wall18 within the enclosure or garage 14, one or more portable remote speechactivated controller units 46 and 48 and an exterior mounted speechactivated controller unit 50, see FIG. 2 also. Controllers 38 and 50 maybe hardwired to the base controller 36 or operably associated therewiththrough radio frequency transmission. For example, as shown in FIG. 1,the controller 50 may be connected to the base controller 36 viahardwiring 51. Alternatively, as shown by the diagram of FIG. 3, thecontroller 50 may include a radio frequency transmitter 52 operable tocommunicate with a receiver of base controller 36 by radio frequencysignal transmission. As mentioned previously, the operator 17, includingthe base controller 36, may be of the type disclosed in U.S. Pat. No.6,118,243, which includes a radio frequency receiver. As shown in FIG.1, the controller 38 is also preferably hardwired to the base controller36 by way of suitable conductor means 39. Alternatively, as describedbelow, the controller 38 may communicate with the base controller 36 viaradio frequency (RF) communication means.

Referring now to FIG. 3, there is illustrated a generalized schematicdiagram of the controller 50. The controller 50 preferably includes amicrocontroller 54 operably connected to transmitter 52, a digitalkeypad 56 and to a source of power, such as a battery 58, by way of asuitable voltage regulator 60. The microcontroller 54 may be of a typecommercially available such as an 8 bit CMOS microcontroller unit withan EEPROM data memory. Such a unit may be operably connected to thekeypad 56 wherein pre-authorized multidigit codes may be input to effectoperation of the controller 50 to send a suitable signal to thetransmitter 52 or via hardwire 51 to base controller 36 to effectoperation of a light 33, FIG. 1, and/or opening or closing of the door20.

Alternatively, and in accordance with the present invention, themicrocontroller 54 is also operably connected to a speech activationunit 53 including a human voice or speech recognition circuit (SRC) ormodule 60 operably connected to a microphone 62 and an audio speaker 64.A visual function indicator light, such as a suitable LED 66, is alsoconnected to the speech activation unit 53 for indicating when anacceptable voice command has been input to the module 60. The speechrecognition circuit or module 60 may also be of a type commerciallyavailable, such as a microcontroller type unit available from SensoryInc. of Santa Clara, Calif., as one of their VOICE DIRECT 364 modules.The speech activation unit 53 may be programmed to recognize apredetermined number of words in a speaker dependent or speakerindependent mode for controlling operation of the operator 17 throughthe base controller 36. The speech recognition circuit or module 60 isoperably connected to the microcontroller 54 whereby the module 60 maybe placed in a mode to recognize a word or words spoken into themicrophone 62 by actuating a selected one of the keypad switches (0-9)of the keypad 56. Moreover, the circuit or module 60 may be placed in atraining mode by actuation of another one of the keypad switches (0-9)of the keypad 56. Still further, the circuit or module 60 may be resetby actuation of yet another one of the keypad switches (0-9) of keypad56. Alternatively, the module 60 may be operably connected to a separateset of “reset”, “train” and “recognize” switches, not shown. The circuitor module 60 may also be of being operated in the so-called continuouslistening mode which is operable to recognize a single word or apredetermined number of words without actuation of a “recognition”switch. If a continuous listening type circuit or module 60 is utilized,a continuous listening condition of the module must be created byactuation of a still another of the keypad switches (0-9) to place thecircuit in a mode for continuous listening for a particular spoken wordor words. A fourth switch, not shown, may be directly connected to thecircuit or module 60.

Accordingly, the controller 50 may be operated by inputting a commandthrough the keypad 56 wherein a predetermined number of access codes maybe stored in the microcontroller 54 by the owner or a person authorizedto operate the garage door 20 so that, for example, authorization codesmay be given to persons known to the owner of the garage 14 for one ormore entry events. For example, the microcontroller 54 may be configuredto accept a particular multidigit code input through the keypad 56 for alimited number of times of actuation. Still further, as mentioned above,the keypad 56 may be used to condition the speech activation unit 53 tobe operable to send a signal via the microcontroller 54 and the radiofrequency transmitter 52 or hardwire 51 to the base controller 36 when aspeaker dependent or speaker independent word or words are spoken withinlistening range of the microphone 62.

The controller 50 may also be operated in the speech activation modewherein light 33 may be controlled and the door 20 may be controlled tomove between open and closed positions by a person speaking a particularword or words to effect an operating command. For example, a personaddressing the controller 50 may speak a predetermined gateway wordfollowed by the word “lights” and effect operation of the circuit 60,the microcontroller 54 and the radio frequency transmitter 52 totransmit a signal to the base controller 36 to effect operation ofexterior lights, not shown, and/or the interior light 33, FIG. 1,mounted on the operator 30. Of course, the circuit or module 60 may bepre-programmed to also recognize the words “open door” or “close door”or simply the words “open” or “close” to effect operation of the door 20after speaking a gateway word or words, for example. If the circuit ormodule 60 recognizes the spoken word or words, the indicator light 66will illuminate. If the circuit or module 60 does not recognize thespoken word, the speaker (person) may be given verbal instructions bythe controller 50 via the module 60 and audio speaker 64 to repeat theword a predetermined number of times in the operating or recognitionmode of the controller. Accordingly, the controller 50 may be operatedby human speech activation or by inputting a command through the keypad56 using a pre-programmed code which will effect operation of the basecontroller 36 to open or close the door 20 or to energize or de-energizelighting associated with the operator 30, such as the light 33 shown inFIG. 1.

Referring now to FIG. 4, there is illustrated a somewhat general diagramof the interior wall mounted controller 38. The controller 38 may beconnected to a source of electrical power, such as a battery, not shown,or a household electrical circuit, and suitable transformer andrectifier, if required, also not shown. A power source conductor 70 isshown connected to a suitable voltage regulator 72 for regulating theelectrical power available at conductor 70 to that required for a speechactivation unit 53 a including a circuit or module 60 and for thatrequired by a suitable interface circuit 74 operable to receive outputsignals from the module 60 by way of conductor means 76. Controller 38may be operated through the module 60 by speech commands issued to themicrophone 62. Instructional commands are given by the module 60 throughthe audio speaker 64. Suitable momentary, push button switches 78, 80and 82 are associated with the module 60 for resetting the module,training the module to recognize spoken words in a speaker dependent orspeaker independent mode and activating the module when a word is to bespoken to issue a command to produce an output signal at conductor means76 to the interface circuit 74. Alternatively, the module 60 may beoperable to continuously listen for a pre-programmed command word orwords in a speaker dependent or speaker independent mode. When a signalis produced at conductor means 76 to the interface circuit 74, outputcommand signals are produced on conductor means 84 or 86 to control thelight 33 or the door 20, respectively. A push button switch 83 isoperable to place module 60 in the continuous listening mode. Pushbutton momentary switches 85 and 87 may be provided, as shown, and areavailable to operate the light 33 and door 20 directly, if desired. Thecontroller 38 may also, in an alternate arrangement, include a radiotransmitter 52 a, FIG. 4, suitably connected to the circuit 74 fortransmitting commands to the receiver of base controller 36 in place ofthe signal conductor 39.

Referring now to FIG. 5, there is illustrated a somewhat generalizedschematic diagram of the controllers 46 and 48 which may be identical,as indicated. Each of the controllers 46 and 48 includes amicrocontroller 90 connected to a suitable radio frequency (RF)transmitter 92 for transmitting signals to the RF receiver of the basecontroller 36. The microcontroller 90 may be of a type which is operableto transmit a so-called rolling code signal by way of the transmitter 92in accordance with the teaching of U.S. Pat. No. 6,049,298, issued Aug.11, 2000 to Dennis Waggamon et al and assigned to the assignee of thepresent invention. The microcontroller 90 may receive input signals fromone or more so-called push button switches 94 and 96 to send a selectedcoded signal by way of the transmitter 92 to command separateoperations, such as to open one or more doors. Microcontroller 90 isoperated via a source of power, such as a battery 58, or an onboardvehicle power source, not shown, and a voltage regulator 59.

The battery 58 or other power source also supplies electrical power to aspeech activation unit 53 b including a speech recognition module 60operably connected to the microcontroller 90 to a microphone 62, anaudio speaker 64 and further to an indicator light 66. Suitable “reset”,“train” and “recognition” switches 78, 80 and 82 may also be associatedwith the module 60. However, the module 60 may also be operated in acontinuous listening mode for a spoken word command received by themodule 60 by way of the microphone 62 to effect transmission of a signalfrom the transmitter 92 by way of the microcontroller 90 to provideoperational signals, such as for opening or closing the door 20, forexample.

Accordingly, the garage door operator system 10 may utilize speechactivation control or manual control at multiple stations orcontrollers. Such control may provide for turning on and off lightingassociated with the garage or enclosure 14, for operation of the door 20to move between open and closed positions, and/or to command theperformance of other functions which would be desirably controlled fromthe controllers associated with the system 10.

Referring now to FIG. 6A, there is illustrated a flow diagram forgeneral operation of the speech recognition module 60 for the respectiveremote controllers 38, 46, 48 and 50. Typically, the module 60 istrained to recognize a gateway word, such as “Overhead”, entered intothe circuitry of the module 60 followed by command words, such as“lights” or “garage door”. With regard to the controller 38, if thiscontroller, having a continuous source of power, is operated in thecontinuous listening mode and receives a speech command comprising agateway word, such as “Overhead” and the module 60 matches the spokenword with a pre-programmed word which it recognizes as indicated at step100, the indicator light 66 is illuminated to indicate gateway wordrecognition, as indicated at step 102. Once the indicator 66 isilluminated, the speaker (person) is prompted to enunciate a commandword such as “lights” or “garage door”. When a word or words isenunciated at step 104 of FIG. 6A and the module 60 recognizes thecommand, the process proceeds to steps 106 or 108 wherein an appropriatesignal is sent by way of interface circuit 74, or the transmitter 52 orone of the transmitters 92 to effect turning the light 33 on or off,depending on the previous condition, or opening or closing the door 20,also depending on the previous condition.

However, if the module 60 does not recognize the speaker dependent orspeaker independent words spoken at step 104, the module 60 effectsoperation of an error process as indicated in FIG. 6B, depending on theerror condition. For example, if the word or words spoken at step 104are too soft, as indicated at step 110 in FIG. 6B, the module 60 causesa synthesized voice to be enunciated by the speaker 64 to say “pleasetalk louder” as indicated at step 112. If the module 60 fails torecognize the spoken word because of other errors, such as indicated atsteps 114 or 116, the module 60 effects enunciation via the speaker 64according to the commands of steps 115 or 117, respectively. If theerror in the spoken word is not recognizable, such as indicated at step118, the person speaking is asked via module 60 and speaker 64 to repeatthe command, as indicated at step 120 of FIG. 6B. The module 60 may beprogrammed to go through two error cycles, for example, as indicated atstep 105 in FIG. 6A, and if it exceeds that number of cycles, theindicator 66 is extinguished and the person attempting to effectoperation of one of the controllers 38, 46, 48 or 50 is required tocommence the process of FIG. 6A all over again.

FIGS. 6C and 6D illustrate steps in the process of training the module60 of one of the controllers 38, 46, 48 or 50 to recognize the spokengateway word or command word when the module 60 is operating in thespeaker dependent mode. Accordingly, module 60 may be pre-programmed torecognize specific commands such as “Overhead”, “lights”, and “garagedoor”. However, the module 60 is required to train itself to recognize aparticular speech pattern as indicated by the diagrams of FIGS. 6C and6D. In this operating mode, each of the module 60 is operated byactivation of its associated “training” switch followed by the flow ofsteps indicated in FIGS. 6C and 6D to effect training the module torecognize a word or words as well as an authorized user's particularspeech characteristics if the modules 60 are adapted for operation inthe speaker dependent mode.

The construction and operation of the door operator system 10 describedabove is believed to be within the purview of one skilled in the artbased on the foregoing description. Although a preferred embodiment of adoor operator system has been disclosed in detail herein, those skilledin the art will also recognize that various substitutions andmodifications may be made without departing from the scope and spirit ofthe appended claims.

1. A garage door system for moving a garage door between open and closedpositions, said garage door system comprising: a lighting system; amechanism operably connected to said garage door for moving said garagedoor between said open and closed positions; a base controller operablyassociated with said mechanism for causing said mechanism to move saidgarage door; and a wall-mounted controller in wireless communicationwith said base controller, said wall-mounted controller including aspeech recognition module programmable for indicating when acceptablevoice communications have been input to said module in order to effectat least one of energizing said lighting system, de-energizing saidlighting system, and operation of said mechanism for moving said garagedoor between said open and closed positions, said acceptable voicecommunications including an oral reference connoting energizing thelighting system, an oral reference connoting de-energizing the lightingsystem, or an oral reference connoting a command to open or close saidgarage door.
 2. The garage door system as set forth in claim 1, saidwall-mounted controller further comprising: a radio frequency (RF)transmitter operable to transmit a radio frequency signal to said basecontroller; and a microcontroller operably connected to said RFtransmitter and to said speech recognition module, said microcontrolleroperable to transmit a signal to said RF transmitter when acceptablevoice communications have been input to said module.
 3. The garage doorsystem as set forth in claim 2, wherein said microcontroller is operableto provide a rolling code signal for transmission by said RF transmitterto said base controller.
 4. The garage door system as set forth in claim2, wherein said wall-mounted controller includes a keypad operablyconnected to said microcontroller and operable to provide a signal tosaid microcontroller to command operation of said RF transmitter.
 5. Thegarage door system as set forth in claim 1, wherein said speechrecognition module includes a microphone for receiving said voicecommunications.
 6. The garage door system as set forth in claim 1,wherein said speech recognition module is operable to respond to saidvoice communications in a speaker dependent mode.
 7. The garage doorsystem as set forth in claim 1, wherein said speech recognition moduleis operable to continuously listen for one or more of said acceptablevoice communications.
 8. The garage door system as set forth in claim 1,wherein said wall-mounted controller further includes a manuallyactuatable switch for effecting operation of said garage door to movebetween said open and closed positions.
 9. The garage door system as setforth in claim 1, wherein said wall-mounted controller includes amulti-digit keypad.
 10. The garage door system as set forth in claim 1,wherein said acceptable voice communications further includes one ormore gateway words.
 11. A garage door system for moving a garage doorbetween open and closed positions, said garage door system comprising: alighting system; a mechanism operably connected to said garage door formoving said garage door between said open and closed positions; a basecontroller operably associated with said mechanism for causing saidmechanism to move said garage door; and a remote controller in wirelesscommunication with said base controller, said remote controllerincluding a speech recognition module programmable for indicating whenacceptable voice communications have been input to said module in orderto effect at least one of energizing said lighting system, de-energizingsaid lighting system, and operation of said mechanism for moving saidgarage door between said open and closed positions, said acceptablevoice communications including an oral reference connoting energizingthe lighting system, an oral reference connoting de-energizing thelighting system, or an oral reference connoting a command to open orclose said garage door.
 12. A garage door system for moving a garagedoor between open and closed positions, said garage door systemcomprising: a lighting system; a mechanism operably connected to saidgarage door for moving said garage door between said open and closedpositions; a base controller operably associated with said mechanism forcausing said mechanism to move said garage door; and a controller inwireless communication with said base controller, said controllerincluding a biometric responsive module programmable for indicating whenacceptable communications have been input to said module in order toeffect at least one of energizing said lighting system, de-energizingsaid lighting system, and operation of said mechanism for moving saidgarage door between said open and closed positions, said acceptablecommunications including a command to energize the lighting system, acommand to de-energize the lighting system, or a command to open orclose said garage door.
 13. The garage door system as set forth in claim12, wherein said biometric module comprises a speech recognition module.14. The garage door system as set forth in claim 12, said controllerfurther comprising: a radio frequency (RF) transmitter operable totransmit a radio frequency signal to said base controller; and amicrocontroller operably connected to said RF transmitter and to saidbiometric module, said microcontroller operable to transmit a signal tosaid RF transmitter when acceptable communications have been input tosaid module.
 15. The garage door system as set forth in claim 12,wherein said acceptable communications further includes one or moregateway words.
 16. A garage door system for moving a garage door betweenopen and closed positions, said garage door system comprising: alighting system; a mechanism operably connected to said garage door formoving said garage door between said open and closed positions; a basecontroller operably associated with said mechanism for causing saidmechanism to move said garage door; a speech recognition moduleprogrammable for indicating when acceptable voice communications havebeen input to said module; and a wall-mounted controller in operablecommunication with said base controller and said speech recognitionmodule, for transmitting access codes to said base controller inresponse to indication by said module of acceptable voice communicationsto thereby effect at least one of energizing said lighting system,de-energizing said lighting system, and operation of said mechanism formoving said garage door between said open and closed positions, saidacceptable voice communications including an oral reference connotingenergizing the lighting system, an oral reference connotingde-energizing the lighting system, or an oral reference connoting acommand to open or close said garage door.
 17. The garage door system asset forth in claim 16, wherein said access codes are transmitted byradio frequency transmission.
 18. The garage door system as set forth inclaim 16, wherein said access codes are transmitted by wires.
 19. Thegarage door system as set forth in claim 16, wherein said acceptablevoice communications further includes one or more gateway words.
 20. Agarage door system for moving a garage door between open and closedpositions, said garage door system comprising: a lighting system; amechanism operably connected to said garage door for moving said garagedoor between said open and closed positions; a base controller operablyassociated with said mechanism for causing said mechanism to move saidgarage door; a speech recognition module programmable for indicatingwhen acceptable voice communications have been input to said module; anda remote controller in operable communication with said base controllerand said speech recognition module, for transmitting access codes tosaid base controller in response to indication by said module ofacceptable voice communications to thereby effect at least one ofenergizing said lighting system, de-energizing said lighting system, andoperation of said mechanism for moving said garage door between saidopen and closed positions, said acceptable voice communicationsincluding an oral reference connoting energizing the lighting system, anoral reference connoting de-energizing the lighting system, or an oralreference connoting a command to open or close said garage door.
 21. Agarage door system for moving a garage door between open and closedpositions, said garage door system comprising: a lighting system; amechanism operably connected to said garage door for moving said garagedoor between said open and closed positions; a base controller operablyassociated with said mechanism for causing said mechanism to move saidgarage door; a speech recognition module programmable for generating anactuation signal when acceptable voice communications have been input tosaid module, said acceptable voice communications including an oralreference connoting energizing the lighting system, an oral referenceconnoting de-energizing the lighting system, or an oral referenceconnoting a command to open or close said garage door; and awall-mounted controller in operable communication with said basecontroller and said speech recognition module, for transmitting accesscodes to said base controller in response to said actuation signalreceived from said speech recognition module to thereby effect at leastone of energizing said lighting system, de-energizing said lightingsystem, and operation of said mechanism for moving said garage doorbetween said open and closed positions.
 22. The garage door system asset forth in claim 21, wherein said access codes are transmitted byradio frequency transmission.
 23. The garage door system as set forth inclaim 21, wherein said access codes are transmitted by wires.
 24. Thegarage door system as set forth in claim 21, wherein said acceptablevoice communications further includes one or more gateway words.
 25. Agarage door system for moving a garage door between open and closedpositions, said garage door system comprising: a lighting system; amechanism operably connected to said garage door for moving said garagedoor between said open and closed positions; a base controller operablyassociated with said mechanism for causing said mechanism to move saidgarage door; a speech recognition module programmable for generating anactuation signal when acceptable voice communications have been input tosaid module, said acceptable voice communications including an oralreference connoting energizing the lighting system, an oral referenceconnoting de-energizing the lighting system, or an oral referenceconnoting a command to open or close said garage door; and a remotecontroller in operable communication with said base controller and saidspeech recognition module, for transmitting access codes to said basecontroller in response to said actuation signal received from saidspeech recognition module to thereby effect at least one of energizingsaid lighting system, de-energizing said lighting system, and operationof said mechanism for moving said garage door between said open andclosed positions.